CN109048896A - A kind of atmospheric control for soft robot - Google Patents
A kind of atmospheric control for soft robot Download PDFInfo
- Publication number
- CN109048896A CN109048896A CN201810908375.6A CN201810908375A CN109048896A CN 109048896 A CN109048896 A CN 109048896A CN 201810908375 A CN201810908375 A CN 201810908375A CN 109048896 A CN109048896 A CN 109048896A
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- China
- Prior art keywords
- module
- finger
- control
- chip microcontroller
- valve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The present invention relates to robot field, specifically a kind of atmospheric control for realizing soft robot movement.Sequentially-operating feature when the present invention works according to specific soft robot, devise one based on bluetooth serial ports communication can real-time control atmospheric control.System is made of two large divisions, is host module and slave module respectively.The task of host module is to acquire data by data glove, and data are transmitted to slave module by bluetooth main module；The task of slave module is control software finger completion respective action after the received data of processing.Control mode of the invention is simple and efficient, and does not need complicated feedback control, only dresses data glove by manpower, so that manpower and software finger realize real-time control, manpower can control the size of software finger grip strength, so that software finger movement is succinctly efficient.
Description
Technical field
The present invention relates to robot field, specifically a kind of atmospheric control for realizing soft robot movement.
Background technique
With the development of the times with the progress of science and technology, it is traditional can not the robot of variation rigidity be no longer satisfied people's
Demand, soft robot rely on its special material and technique, safe human-computer interaction, to the adaptability of wearable device with
And shape, weight, in terms of have very big advantage compared with traditional robot, at present in field of biomedicine,
Artificial intelligence field and bionics etc. have extensive research.Soft robot technology is applying to physical disabilities' artifucial limb
It develops and the research and development of rehabilitation medical instrument aspect also achieves certain achievement.Especially soft robot is used to help
Physical disabilities restore to have received widespread attention in terms of self care ability, and the control system of soft robot, are only really
It is the most important thing that soft robot advantage, which can be played, and efficient and succinct soft robot, which is made, meets expected control,
Soft robot can be made to have better utilization.
Application No. is 201710147070.3 Chinese patent applications to disclose a kind of manipulator control system comprising:
Sensor, central processing module, motor, electric-motor drive unit, finger mode switching switch and power supply, the induction end of sensor
It is connected on human body limb, for detecting human body limb position generated muscle electric signal when carrying out finger movement.This is specially
Benefit acquisition muscle electric signal has innovative point to control manipulator, but muscle electric signal can only control whole finger movement,
And it cannot individually control single finger movement；Application No. is 201710378315.3 Chinese patent application provide it is a kind of pneumatic soft
Body finger, software finger control system and control method, the software finger include equipped with the drive part for driving air cavity and being equipped with
Perceive air cavity perception part, drive part and perception part using shaped deposition technology integration manufacture, realize driving with
What is perceived is highly integrated.The control method of the invention is by the air pressure of detection senses air cavity, thus to finger bending curvature and contact
Power measures, and realizes the closed-loop control of opponent's abutment power, lays the foundation to complete more finger cooperation crawls.The knot of this patent
Structure is complicated, can measure to the curved all data of software finger, but can not achieve manpower for the reality of software finger
When control, the size of finger grip strength can be only adjusted by system data feedback, controlled range is smaller, controlled manner compared with
It is few.
Summary of the invention
Sequentially-operating feature when the present invention works according to specific soft robot is devised one and is led to based on bluetooth serial ports
Letter can real-time control atmospheric control.System is made of two large divisions, is host module and slave module respectively.
Host module is as shown in Figure 1, by a bluetooth main module, AD conversion module, a single-chip microcontroller, be integrated with bending biography
The data glove and 5v electric power generating composition of sensor.It obtains bending sensor sewing to be integrated with bending sensor in glove surface
Data glove.The data glove for being integrated with bending sensor is connect with AD conversion module by conducting wire, AD conversion module and monolithic
Machine is connected by conducting wire, and single-chip microcontroller is connect with bluetooth main module by conducting wire.It is integrated with the data glove of bending sensor, AD turns
Block, single-chip microcontroller and bluetooth main module are changed the mold by 5V power supply power supply.
Slave module is by a bluetooth from module, a single-chip microcontroller, 12V power supply, 5V power supply, electromagnetic relay, two three
Electric change valve, software finger, Unidirectional solenoid valve, air pump and pressure reducing valve are constituted.5V power supply is bluetooth from mould in slave module
Block, single-chip microcontroller and electromagnetic relay power supply；12V power supply is two position, three-way electromagnetic change valve, Unidirectional solenoid valve and air pump power supply；It is blue
Tooth is connect with single-chip microcontroller by conducting wire from module, and single-chip microcontroller is connect with electromagnetic relay by conducting wire；Electromagnetic relay respectively with
Two position, three-way electromagnetic change valve, Unidirectional solenoid valve are connected by conducting wire, and air pump is connect with pressure reducing valve by Pneumatic pipe, pressure reducing valve
It is connect with two position, three-way electromagnetic change valve by Pneumatic pipe, two position, three-way electromagnetic change valve and software finger pass through Pneumatic pipe
Connection, software finger are connect with Unidirectional solenoid valve by Pneumatic pipe, as shown in Figure 2.
The task of host module is to acquire data by data glove, and data are transmitted to slave mould by bluetooth main module
Block；The task of slave module is control software finger completion respective action after the received data of processing.Software finger of the present invention is
It voluntarily prepares, preparation method is referring to application No. is 201810058742.8 Chinese patent applications.
The present invention is succinctly efficient in addition to control mode, and manpower and software finger can be realized outside a big advantage of real-time control,
It the use of the wireless transmission that bluetooth communication module is realized equally is another big advantage, wireless transmission realizes software finger and control unit
Controlled range is expanded to 10 meters of radius of region and does not have to worry control route for the office of control range by the physical isolation divided
Sex-limited while of the invention another big advantage is to be extended to realize long-range control of the manpower for software finger by internet
System, can make friend and household lead along by hand by network and their relatives or lover, so as to allow people passing through network
The truly feels that body is in contact each other are experienced while speaking with other side, are experienced the relatives being separated by thousands of miles and are passed through body language
The emotion of expression.
Control mode of the invention is simple and efficient, and does not need complicated feedback control, only dresses data glove by manpower,
So that manpower and software finger realize real-time control, manpower can control the size of software finger grip strength, so that software finger
Movement is succinct efficient.
Detailed description of the invention
Fig. 1 is the control system architecture schematic diagram of host module；
Fig. 2 is the control system architecture schematic diagram of slave module；
The pictorial diagram of Fig. 3 software finger；
Fig. 4 software finger interior structural schematic diagram；
Fig. 5 software finger external structure；
In figure: 1, tracheae；2, second joint cavity body structure；3, the first joint cavity body structure；4, silica gel filler；5, second
Joint external structure；6 first joint external structures.
Specific embodiment
The host module of this patent is as shown in Figure 1, drive the movement of bending sensor by finger, so that resistance of sensor
It changes, to influence sensor input voltage, and digital signal is converted for analog voltage signal by AD conversion module
It is sent into after the single-chip microcontroller processing of host module and collected digital signal is transmitted to slave module through bluetooth main module by serial ports,
For the bluetooth of slave module after the AD conversion numerical value that module receives that host module is sent, the single-chip microcontroller of slave module will be a series of
Numerical value is first stored into its internal storage, and then log-on data processing judges being bent or stretch in real time for bending sensor.When
Bending state variation range is more than the threshold values of algorithm control, and single-chip microcontroller is in specific I/O mouthfuls of output low level；When straight configuration changes
Range is more than the threshold values of algorithm control, and single-chip microcontroller is in specific I/O mouthfuls of output low level.It is driven by the signal that different I/O mouths exports
Dynamic electromagnetic relay work；Using the normally opened contact of electromagnetic relay, when electromagnetic relay coil power-off, solenoid valve is in disconnected
Electric situation；When electromagnetic relay coil is powered, solenoid valve is in energized state.By taking the control loop of a finger as an example, when
When the single-chip microcontroller of slave module issues bending signal, the electromagnetic relay (as shown in Figure 2) of control two-position three way magnetic valve work
Coil is attracted, and two position, three-way electromagnetic change valve, which is powered, to commutate, and inflatable finger is in inflated condition, and Unidirectional solenoid valve is in power-off
State, i.e. Unidirectional solenoid valve valve port closure state；When single-chip microcontroller issues stop signal, electromagnetic relay coil release, two
Three-way solenoid valve and Unidirectional solenoid valve are in off-position, and inflatable finger is in hold mode, keep current gas pressure value, and
The compressed air of air pump conveying is in the situation of discharge system；When signal is stretched in the sending of slave module single-chip microcontroller, control is unidirectional
Electromagnetic relay (as shown in Figure 2) coil of electromagnetic valve work is attracted, and Unidirectional solenoid valve is powered, and valve port is opened, inflatable finger
In air deflating state, two position, three-way electromagnetic change valve is in off-position, the compressed air discharge system that air pump is conveyed.
Embodiment one
The present embodiment is the fortune for acquiring thumb, index finger, middle finger, ring finger and little finger respectively using five bending sensors
Dynamic data control.The present embodiment establishes five independent finger control loops, i.e. five sensor output signals respectively input
Then five signals are transmitted to slave module by bluetooth main module by the single-chip microcontroller of host module respectively, slave module further according to
Five different signals control the movement of corresponding software finger.The control mode and said one hand in each finger circuit
Control mode described in the control loop of finger is consistent, and the signal transmission of each finger, which is realized with processing by programming, not to be done mutually
It disturbs.Manpower is worn by after data glove, it can be achieved that controlling the Integral bending of the independent bending unbending movement of five fingers, five fingers
Bent unbending movement, Toe Transplantation for Segmental Finger bending unbending movement, it can be achieved that shake hands with people, grasp article, it is dynamic to make arbitrary gesture etc.
Make.
Software finger uses silicon rubber Ecoflex 00-20 to mix with dimethyl silicone polymer (PDMS) with mass ratio 3:1
Composite material be made, as shown in Figure 3.It is illustrated in figure 4 software finger interior structural schematic diagram, it is special that software finger has
Cavity body structure, while as shown in figure 5, it being all wound with thin nylon wire outside the first and second joint of software finger, to control inflation
The deformation direction in joint when bending, the production method of software finger is referring to application No. is 201810058742.8 Chinese patent Shens
Production method please.When system issues bending signal, gas enters the cavity body structure of software finger, is limited by finger interior spy
The control of deformation direction outside different cavity body structure and joint, software finger realize software hand to a direction bending motion
The bending of finger and stretch movement.
Claims (4)
1. a kind of atmospheric control for soft robot, which is characterized in that the atmospheric control is by host module
With slave module；
Host module is by a bluetooth main module, AD conversion module, a single-chip microcontroller, the data glove for being integrated with bending sensor
And 5v electric power generating composition；The data glove for being integrated with bending sensor is connect with AD conversion module by conducting wire, AD conversion module
It is connect with single-chip microcontroller by conducting wire, single-chip microcontroller is connect with bluetooth main module by conducting wire；It is integrated with the data hand of bending sensor
Set, AD conversion module, single-chip microcontroller and bluetooth main module are by 5V power supply power supply；
Slave module is electric from module, a single-chip microcontroller, 12V power supply, 5V power supply, electromagnetic relay, two-position three way by a bluetooth
Magnetic reversal valve, software finger, Unidirectional solenoid valve, air pump and pressure reducing valve are constituted；5V power supply is bluetooth from module, list in slave module
Piece machine and electromagnetic relay power supply；12V power supply is two position, three-way electromagnetic change valve, Unidirectional solenoid valve and air pump power supply；Bluetooth from
Module is connect with single-chip microcontroller by conducting wire, and single-chip microcontroller is connect with electromagnetic relay by conducting wire；Electromagnetic relay respectively with two
Three-way solenoid valve, Unidirectional solenoid valve are connected by conducting wire, and air pump is connect with pressure reducing valve by Pneumatic pipe, pressure reducing valve and two
Position three-way solenoid valve is connected by Pneumatic pipe, and two position, three-way electromagnetic change valve and software finger are connected by Pneumatic pipe
It connects, software finger is connect with Unidirectional solenoid valve by Pneumatic pipe；
Host module acquires data by data glove, and data are transmitted to slave module by bluetooth main module；Slave module
Control software finger completes respective action after handling received data.
2. a kind of atmospheric control for soft robot as described in claim 1, which is characterized in that pass through finger band
The movement of dynamic bending sensor to influence sensor input voltage, and passes through AD conversion so that resistance of sensor changes
Module converts digital signal for analog voltage signal and is sent into collected digital signal after the single-chip microcontroller processing of host module
It is transmitted to slave module through bluetooth main module by serial ports, the bluetooth of slave module receives the AD that host module is sent from module and turns
After changing numerical value, series of values is first stored into its internal storage by the single-chip microcontroller of slave module, and then log-on data is handled
Judge being bent or stretch in real time for bending sensor；When bending state variation range is more than the threshold values of algorithm control, single-chip microcontroller exists
Specific I/O mouthfuls of output low level；When straight configuration variation range is more than the threshold values of algorithm control, single-chip microcontroller is defeated at specific I/O mouthfuls
Low level out, the signal driving electromagnetic relay work exported by different I/O mouths；Using the normally opened contact of electromagnetic relay,
When electromagnetic relay coil power-off, solenoid valve is in outage condition；When electromagnetic relay coil is powered, solenoid valve is in logical
Electricity condition.
3. a kind of atmospheric control for soft robot as described in claim 1, which is characterized in that curved using five
Bent sensor acquires the exercise data control of thumb, index finger, middle finger, ring finger and little finger respectively；That is five sensor output letters
Then five signals are transmitted to slave module, slave by bluetooth main module by number respectively single-chip microcontroller of input host module respectively
Module controls the movement of corresponding software finger further according to five different signals；The control mode one in each finger circuit
It causes, the signal transmission of each finger, which is realized with processing by programming, not to be interfere with each other；When the single-chip microcontroller of slave module issues bending
When signal, the electromagnetic relay coil of control two-position three way magnetic valve work is attracted, and two position, three-way electromagnetic change valve, which is powered, to commutate,
Inflatable finger is in inflated condition, and Unidirectional solenoid valve is in off-position, i.e. Unidirectional solenoid valve valve port closure state；Work as monolithic
When machine issues stop signal, electromagnetic relay coil release, two position, three-way electromagnetic change valve and Unidirectional solenoid valve are in power-off shape
State, inflatable finger are in hold mode, keep current gas pressure value, and the compressed air of air pump conveying is in the shape of discharge system
Condition；When signal is stretched in the sending of slave module single-chip microcontroller, the electromagnetic relay coil of control Unidirectional solenoid valve work is attracted, unidirectionally
Solenoid valves, valve port are opened, and inflatable finger is in air deflating state, and two position, three-way electromagnetic change valve is in off-position, will
The compressed air discharge system of air pump conveying.
4. a kind of atmospheric control for soft robot as described in claim 1, which is characterized in that by crooked sensory
Device sewing obtains the data glove for being integrated with bending sensor in glove surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810908375.6A CN109048896A (en) | 2018-08-10 | 2018-08-10 | A kind of atmospheric control for soft robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810908375.6A CN109048896A (en) | 2018-08-10 | 2018-08-10 | A kind of atmospheric control for soft robot |
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| Publication Number | Publication Date |
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| CN109048896A true CN109048896A (en) | 2018-12-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810908375.6A Pending CN109048896A (en) | 2018-08-10 | 2018-08-10 | A kind of atmospheric control for soft robot |
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Cited By (3)
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|---|---|---|---|---|
| CN109746933A (en) * | 2019-01-14 | 2019-05-14 | 燕山大学 | A kind of nothing is tethered at software end effector |
| CN111230920A (en) * | 2020-01-19 | 2020-06-05 | 广州大学 | Pneumatic soft clamping device |
| CN113146662A (en) * | 2021-03-03 | 2021-07-23 | 南方科技大学 | Driving control method for clamping jaw knuckle and multi-degree-of-freedom gripping device |
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|---|---|---|---|---|
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| CN113146662A (en) * | 2021-03-03 | 2021-07-23 | 南方科技大学 | Driving control method for clamping jaw knuckle and multi-degree-of-freedom gripping device |
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Application publication date: 20181221 |